JPH09212234A - Guide controller for moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving vehicle guide controller capable of guiding/ traveling a moving vehicle along each traveling route in a suitable state even when the intensity of a magnetic field is different from a logical value. SOLUTION: When a moving vehicle V travels along one of plural traveling routes in the guide controller for supplying a current to a guide line 2 arranged on the ground side, detecting the intensity of a magnetic field formed by the current and guiding/traveling the moving vehicle V on each of plural parallel traveling routes based upon the detection information, the intensity of a magnetic field detected by a magnetic field detection part for a succeeding traveling route is sequentially stored as reference information correspondingly to traveling distance information from a tranveling route start end part. As to a traveling route of which reference information is stored, a desired value for the intensity of a traveling magnetic field at a current point on the traveling route is found out based upon the stored reference information and the traveling distance information and guide traveling control is executed so that the traveling magnetic field detection part detects the desired value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic field detecting means provided on a ground side with a guide wire to which a current is supplied, and a moving field detecting means for detecting the strength of a magnetic field formed by the current,
Based on the information detected by the magnetic field detecting means, guide traveling control is performed to guide the traveling vehicle along each of the traveling routes along each of the traveling routes that are parallel to each other along the longitudinal direction of the guide line. The present invention relates to a guidance control device for a moving vehicle, which is provided with travel control means.

[0002]

2. Description of the Related Art In the guidance control device for a moving vehicle, conventionally, for example, the guidance traveling control is executed so as to maintain a state in which the strength of the magnetic field detected by the magnetic field detecting means is kept constant. Was becoming. In other words, the strength of the magnetic field formed by the current supplied to the guide wire is theoretically the same at each point where the separation distance from the guide wire is the same. This is to maintain the same distance, that is, to guide the traveling vehicle on each of a plurality of parallel traveling routes along the longitudinal direction of the guide line.

[0003]

By the way, when the induction wire is installed on the ground side, a current return path for forming a closed circuit of the current is required for the induction wire. It is necessary to prevent the guidance of the moving vehicle from being adversely affected by the magnetic field formed by this, but it is conceivable to dispose this return route by detouring a location far away from the guidance target location. However, in this case, the installation distance becomes long and the equipment becomes large. Therefore, it is conceivable to ground the end of the guide wire to form a return path for the current through the ground.

When the return path is constructed through the ground as described above, for example, it is not possible to regulate the current flowing point in the ground, and therefore the position of the current flowing in the ground may change depending on the grounding state. There is. It is also conceivable that there will be a difference in the ground resistance at the grounded portions at both ends of the guide wire. Due to such various factors, the strength of the magnetic field will be strong even if the distance from the guide wire is the same. It can change.

As a result, in the conventional structure in which the guide traveling control is executed so as to maintain the state where the magnetic field strength becomes constant, appropriate guide control can be performed by the change in the magnetic field strength as described above. There was a disadvantage of not being.

The present invention has been made paying attention to such a point, and an object thereof is to change the strength of a magnetic field at a point where the distance from the guide wire is the same,
It is a point to provide a guidance control device for a moving vehicle that can guide the traveling of the moving vehicle along each traveling route in an appropriate state.

[0007]

According to the characterizing feature of claim 1, when the moving vehicle travels along one of the plurality of traveling routes, the current traveling route in the magnetic field detecting means is used. The magnetic field detection unit detects the strength of the magnetic field for performing the guidance control along the traveling route, and the magnetic field detection unit for the next traveling route detects the magnetic field along the adjacent next traveling route. The strength of the magnetic field to be detected by the magnetic field detection unit for the current traveling route when the moving vehicle is driven is detected.

Further, the traveling distance of the moving vehicle is detected by the distance detecting means, and the strength of the magnetic field detected by the magnetic field detecting portion for the next traveling path is detected by the distance detecting means. Are sequentially stored in the storage means as reference information in association with the traveling distance information from the vehicle.

Then, in the traveling route in which the reference information is stored, based on the reference information stored in the storage means and the traveling distance information of the distance detecting means, the traveling route is stored at the present time on the traveling route. The guidance traveling control is executed so that a target value of the strength of the magnetic field to be detected by the magnetic field detection unit for the current travel route is obtained, and the target value is detected by the magnetic field detection unit for the current travel route. Of.

Therefore, when the guided traveling is performed along the traveling route, the actual value of the magnetic field corresponding to the next traveling route is detected, and the target value for traveling on the next traveling route is obtained from the measured value. Since the guided traveling control is executed based on the target value and the strength of the detected magnetic field, the next traveling route always has the traveling state on the previous traveling route even if the magnetic field strength varies. The guidance traveling is executed in almost the same state.

Therefore, even if the strength of the magnetic field at a point on the travel route is different from the theoretical value, it becomes possible to guide the traveling vehicle along each travel route in an appropriate state. .

According to a second aspect of the present invention, the moving vehicle is provided with a route end detecting unit for detecting the start end and the end of the traveling route, and the storage means includes , Based on the detection information of the route end detection unit, executes the storage process of the reference information, the traveling control means,
Based on the detection information of the route end detection unit, the guide traveling control for the traveling route in which the reference information is stored is executed.

Therefore, in each of the traveling routes, the storage operation of the reference information is automatically started from the end of the route, and the guide traveling control is executed, so that the reference corresponding to the traveling distance information is executed. Information can be stored accurately,
It is possible to perform an accurate guidance run in a state corresponding to the reference information.

According to the third aspect of the present invention, the traveling control means causes the traveling vehicle to turn around from the end portion of the traveling route based on the detection information of the route end portion detecting portion. It is configured to execute a turning control for inducing an approach to an adjoining next travel route, and storage information of the storage unit at the terminal end of the travel route and storage information of the storage unit at the time of entering the next travel route. On the basis of the above, it is configured to correct the error of the reference information that occurs when the vehicle enters the travel route along with the turning.

That is, when the moving vehicle turns around at the end of the traveling route and is guided to enter the next traveling route, the storing operation by the storage means is executed from the starting end of the traveling route. At that time, due to the turning motion, the moving vehicle approaches while approaching the travel route from a position laterally offset. Therefore, the vehicle travels in a position deviated from the travel route until it reaches the state of being along the travel route. Even at this time, the storage operation by the storage means is executed, so in this area, , Information that includes an error different from the normal reference information, and if the guidance along the next travel route is executed based on the reference information including such an error, accurate guidance cannot be performed near the end portion. .

Therefore, at the end of the travel route, the vehicle travels almost on the travel route, so the stored information in the storage means at the end of the travel route becomes accurate information, and the next time the vehicle enters the travel route. Since the stored information of the storage means includes the above-mentioned error, it is possible to correct the error based on these information, and by correcting the information in this way, the travel route Even when moving a moving vehicle at the terminal end,
Therefore, it is possible to execute the accurate guidance traveling control with a small error.

According to the characterizing feature of claim 4, since the interval adjusting means capable of changing and adjusting the set interval in the magnetic field detecting means is provided, it is possible to detect the strength of the magnetic field with respect to the next traveling route. The distance between the current traveling route and the magnetic field strength detection location can be changed and adjusted by a simple work without requiring a troublesome work such as changing the content of the target value calculation control in the travel control means. It will be possible.

According to a fifth aspect of the present invention, the moving vehicle is a work vehicle having a ground work device, and the set interval in the magnetic field detecting means is wider than the work width of the ground work device. Since it is set narrow, the work width of the ground work device is wide and laps with respect to the interval of each traveling route, and based on traveling on each traveling route, an unworked area does not occur, The ground work can be effectively performed.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION A guidance control device for a moving vehicle according to the present invention will be described below. As shown in FIG. 1, in a rectangular field 1 as an example of a guidance area, a work vehicle V as an example of a moving vehicle is provided in each of a plurality of parallel traveling routes k along the longitudinal direction of the field 1. , Is configured so that it can be guided and run in an unmanned state.

On each side (ridge) of the outer periphery of the field 1,
Each of the guide wires 2 having a length substantially equal to the length of the ridge is installed along the longitudinal direction of the ridge, and each of the guide wires 2 is provided with an AC current having a predetermined frequency by a current supply source as a current supply means. Is supplied. In other words, alternating currents of the frequency fa (Hz) and the frequency fc (Hz) are supplied by the current supply sources 3 to the respective guide lines 2 a and 2 c installed along the ridges on both sides along the long direction of the field 1. The frequency fb (Hz) and the frequency fd are supplied by the current supply sources 3 to the respective guide wires 2b and 2d which are supplied and installed on the ridges on both sides along the short direction.
(Hz) alternating current is supplied. The frequency is
The frequency is set to several hundred Hz to several tens KHz.

As shown in FIG. 2, each of the guide wires 2 is constructed so that the current flows through the ground through a plurality of piles 4 made of a conductive material that are driven into the ground. , Even if the guide wire is installed over a long distance,
The configuration is such that the installation can be easily performed only by driving the stake 4 on both sides in the longitudinal direction. In the ground, the driving depth of the pile 4 is set so that the current flows through the lower clay layer G2 having a relatively low electric resistance, instead of the ground layer G1 having a relatively high electric resistance.

When a current flows through the induction wire installed as described above, a magnetic field is formed by the current. The theoretical value of the magnetic field strength with respect to the distance from the induction wire can be calculated. , The strength of the magnetic field is inversely proportional to the square of the distance from the guide wire. Therefore, if the supplied current value is constant, as shown in FIG. 3, the change characteristic of the magnetic field strength with respect to the distance from the induction wire is determined, and the magnetic field at a certain point in the field 1 is determined. Has a substantially constant magnitude.

The work vehicle V is provided with a rotary tilling device 6 as a ground working device at the rear portion of the four-wheel type traveling vehicle body 5 so that the ground work (plowing work) of the field 1 can be performed while traveling. It has become. An engine is mounted on the traveling vehicle body 5, and the power of the engine is transmitted to each wheel through a transmission having a forward / reverse switching mechanism 7 and an electromagnetically operated traveling clutch 8 so that the vehicle body travels. The power of the engine is transmitted to the rotary tiller 6. The left and right front wheels are provided so as to be steerable by an electric motor 9 as a steering operation means.

The working vehicle V detects a traveling distance of the vehicle body by detecting the number of rotations of the axle, and a traveling distance sensor 10 as a distance detecting means composed of, for example, a rotary encoder, and an orientation of the vehicle body. An azimuth sensor 11 as azimuth detecting means, a control device 12 using a microcomputer as traveling control means for controlling the operations of the forward / reverse switching mechanism 7, the steering electric motor 9 and the like are provided.

Further, as shown in FIG. 11, three magnetic field sensors for detecting the strength of the magnetic field formed by the alternating current supplied to each of the induction wires are provided on the front portion of the traveling vehicle body 5 in the lateral width of the vehicle body. It is installed in a line along the direction, of which,
The side magnetic field sensors 13R and 13L located on both the left and right sides are
The central magnetic field sensor 14 which is configured to detect the strength of the magnetic field formed by the alternating currents of the frequency fa and the frequency fc, and which is located on the left and right center sides, includes the frequency fb and the frequency f.
It is configured to detect the strength of the magnetic field formed by the alternating current of d. Then, the control device 12 performs guided travel control for guiding the work vehicle V along each travel route k in each of the plurality of travel routes k based on the detection information from the side magnetic field sensors 13R and 13L. When it is executed and it is detected that the end portion or the start end portion of each traveling route k is reached based on the detection information by the central magnetic field sensor 14, and the end portion is detected, the work vehicle V is turned. It is configured to execute a turning control that causes the vehicle to travel and guide the vehicle to enter an adjacent next traveling route.

Therefore, each side magnetic field sensor 13R, 1
The 3L constitutes a magnetic field detecting means GK for guiding the vehicle body, and the central magnetic field sensor 14 constitutes a route end detecting unit for detecting the start end and the end of the traveling route. That is, as shown in FIG. 4, the output of each of the side magnetic field sensors 13R and 13L and the central magnetic field sensor 14 is processed by the signal processing unit 15 and then given to the control device 12, and these magnetic field detection information is output. Based on this, the steering electric motor 9 is guided so as to be guided to travel along each traveling route k.
In addition to controlling the drive operation unit for the vehicle, the steering electric motor 9 and the forward / backward movement are performed at the terminal end of the travel route k based on the magnetic field detection information and the detection information of the azimuth sensor 11 and the travel distance sensor 10 for turning. It is configured to control the switching mechanism 7, the traveling clutch 8 and the like.

Each of the magnetic field sensors 13R, 13L, 14
As shown in FIG. 5, a detection coil 16 in which an induced electromotive force is generated by an alternating magnetic field formed by an alternating current flowing through the induction wire, an amplifier 17 for amplifying the output of the detection coil 16 to a predetermined level, Of the output of the detection coil 16, a bandpass filter BPF as a frequency filter that passes only the output corresponding to the frequency of the current flowing in each induction wire, an amplifier 18 that amplifies the output of this bandpass filter BPF, and the like are configured. ing.

Therefore, each side magnetic field sensor 13R, 13L
The band-pass filter BPF suppresses the detection information by the center-side magnetic field sensor 14 from being mixed in with the detection information by the band-pass filter BPF.
The PF constitutes the information mixture suppressing means.

In this way, each side magnetic field sensor 13R, 1
3L, detection information corresponding to each of the frequency fa and the frequency fc is output, and the central magnetic field sensor 14 outputs the detection information corresponding to each of the frequency fb and the frequency fd. However, the signal processing unit 15 selectively outputs the detection information of the higher detection level, that is, the detection information of the work vehicle V closer to the corresponding guide line. The signal processing unit 15 is shown in FIG.
As shown in the figure, each of the magnetic field sensors 13R, 13L, 14
DC conversion circuits DC for converting the outputs of the above to DC signals are respectively provided, and the converted outputs are input to the controller 12, and the controller 12 detects the detection level among the outputs of different frequencies in each of the magnetic field sensors 13R, 13L, and 14. It is configured to determine an output on the higher side of and to apply a selection signal to the _three analog switches AS _1, AS _2, AS ₃ so as to select the output.

Based on the detection information of the central magnetic field sensor 14, the control device 12 separates the guide wire 2b, 2d installed in the ridge along the short direction from the guide wire on the higher detection level side. Is calculated, and when the separation distance reaches a set value, it is determined that the work vehicle V has reached the end position of each traveling route k. As shown in FIG. 7, the guide wires 2b and 2d installed on the ridges along the short direction are installed in a state where both end portions are bent in a substantially L shape toward the inside of the field 1. . With this configuration, the intensity of the magnetic field is substantially the same over the entire length of the guide lines 2b and 2d at a point where the separation distance of the guide lines 2b and 2d from the intermediate portion t is the set distance. k
Is set as the end position. This end position is a point located on the inward side of the field 1 by a set distance from the length L of the end bent portion. Incidentally, according to the experiment conducted by the present applicant, if the length H of the bent end portion is, for example, 3 m, the end portion is located at a distance of 5 m from the guide wire.

As described above, the reason for setting the end position of the traveling route k to the inner side of the end part of the field 1 is, as shown in FIG. 1, in the magnetic field formed by the guide wire of finite length.
In the magnetic field strength distribution at the same distance, the relationship between the magnetic field strength and the distance is not linear near the end of the guide wire, and guidance control based on the magnetic field strength may not be performed well. Because there is.

Further, as shown in FIG. 8, the currents flowing through the guide wires 2a and 2c installed in the ridges along the long direction flow into the guide wires installed in the ridges along the short direction through the ground. As a frequency filter that is an example of a current suppressing unit that suppresses the above, a bandpass filter 19 that allows passage of only the frequency of the current supplied to the induction wires 2a and 2c is provided. This bandpass filter 19
Is composed of a resonance circuit in which a coil 19a and a capacitor 19b are connected in series, and its resonance frequency corresponds to the frequency of the current. Therefore, even if a current with a different frequency flows from the other induction wire through the ground, the inflow current is suppressed from flowing through the induction wire, minimizing the possibility that each magnetic field sensor will detect erroneous information. There is.

Each side magnetic field sensor 13R, 13L is detected.
Each analog switch AS corresponding to output information₁, AS_ThreeOut of
The amplification gain for amplifying the force is
Change and adjust to multiple stages (four stages) based on switching information
It is configured to be. That is, each of the amplification gains
Outputs of four different amplifiers 21, 22, 23, 23
For inputting one of the two to the control device 12.
Switch AS_Four, AS _FiveIs selected by the control device 12
It is configured to dictate the content. Supplied to the guide wire
The strength of the magnetic field formed by the current
Changes greatly with changes in the separation distance.
If the amplification gain is kept constant, the
It is difficult to detect with appropriate resolution and detection accuracy is low
To the control device 12
The input level is, for example, as shown in FIG.
The appropriate magnetic field strength when the separation distance changes by a unit distance
So that the change in height is identifiable, in other words
Amplification gain so that it is in the appropriate output range with high resolution
Is automatically adjusted.

The respective side magnetic field sensors 13R and 13L are
One of the side magnetic field sensors is installed at a set interval in the vehicle body width direction, and when the work vehicle V travels along one of the plurality of travel paths k, the traveling vehicle Magnetic field detection unit G for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along the traveling route k in the middle
Functions as K _1, the other side the magnetic field sensor, to be detected by the magnetic field detector GK ₁ for the current travel route when caused to travel the work vehicle along the next adjacent travel path k Field detection unit GK for the next traveling route for detecting the strength of the magnetic field
It is configured to function as ₂ . That is, the other side magnetic field sensor sequentially detects the magnetic field of the next traveling route k while traveling on the current traveling route k, and this detection information is the distance information detected by the traveling distance sensor 10. It is configured to be sequentially stored in the memory 25 as a storage unit in a state of being associated with.

The control device 12 determines the magnetic field detection information stored in the memory 25 and the end position of the travel route k detected by the travel distance sensor 10 in the next travel route k in which the magnetic field detection information is stored. The target value of the magnetic field strength at each point on the travel route k is obtained based on the travel distance information of the current travel route, and the target value and the side magnetic field sensor functioning as the magnetic field detection unit GK ₁ for the current travel route. The guide traveling control for driving and controlling the electric motor 9 for traveling is executed so that the detected value of the driving electric motor 9 coincides with the detected value of the driving electric motor 9. Further, the control device 12 sets the target value of the amplification gain of the magnetic field sensor when the vehicle is guided to travel on the next travel route k based on the magnetic field detection information stored in the memory 25, and at the same time, sets the target value on the next travel route k. It is configured such that the gain is automatically adjusted to the target value before the guided traveling. Specifically, if the maximum value of the strength of the magnetic field stored in the memory 25 exceeds the set upper limit value, it is 1 more than the current gain.
If an amplifier having a lower gain is selected and the maximum value is lower than the lower limit setting, an amplifier having a gain one step higher than the current gain is selected with respect to the analog switches AS ₄ and AS _5. To instruct the selection signal. The gains of the analog switches AS ₄ and AS ₅ are always adjusted to the same value. The set upper limit value and the set lower limit value are set as upper and lower limit ranges in which linearity of output change as an analog value is guaranteed.

Next, the control operation of the controller 12 will be described. When the work vehicle V is guided in the field 1, the work vehicle V is manually driven on the first travel route k in a state where the work vehicle V is along the appropriate travel route k prior to the automatic guidance control by the control device 12. Let it. At that time, as the traveling is started from the starting end position of the traveling route k, the detection information of the side magnetic field sensor on the side of the next traveling route (the sensor 13R on the right side in the case of FIG. 1) and the detection of the traveling distance sensor 10 are detected. The information and the information are sequentially written and stored in the memory 25.

Then, the automatic guidance control is started from the next traveling route k, and as shown in FIG. 10, first, the amplification gain and the magnetic field detecting unit GK ₁ for the current traveling route are selected according to the working state. Initialize a functional side magnetic field sensor (left sensor 13L in the case of FIG. 1) (step 1).

Then, while the work vehicle V is traveling at the traveling speed for work, based on the magnetic field detection information stored in the memory 25 and the detection information of the travel distance sensor 10, the current time on the travel route k. The steering electric motor 9 is driven so that the target value of the strength of the magnetic field is obtained and the detection value of the side magnetic field sensor 13L that functions as the magnetic field detection unit GK ₁ for the current travel route becomes the target value. Control (step 2). When this guided travel control is executed, the detection information of the side magnetic field sensor on the side of the next travel route (the sensor 13R on the right side in the case of FIG. 1) that functions as the magnetic field detection unit GK ₂ for the next travel route is traveled. The information is sequentially written and stored in the memory 25 in a state of being associated with the detection information of the distance sensor 10 (step 3).

When it is detected that the end of the traveling route k is reached based on the detection information of the central magnetic field sensor 14,
Count up the number n of travel routes (steps 4 and 5),
If the count value does not reach the set number of paths ns in the field 1, the target value of the amplification gain is set as described above from the maximum value of the magnetic field strength written and stored in the memory 25, and the gain is set. A selection signal is instructed to the analog switches AS ₄ and AS ₅ to automatically adjust the gain so that the value becomes the target value (steps 7 and 8).

Next, the side magnetic field sensor functioning as the magnetic field detecting unit GK ₁ for the current traveling route is switched to the opposite side magnetic sensor (the sensor 13R on the right side) (step 9). This is because their positional relationship is reversed due to changes in the orientation of the vehicle body.

Next, a turning control is carried out for turning the vehicle so that it is located at the starting end of the next traveling route k (step 10). As shown in FIG. 13 (a), after traveling straight ahead while maintaining the steering operation in the neutral state for a set distance from the end position of the traveling route k, the azimuth sensor 11 is reset to set the azimuth of the vehicle body to 180 degrees. The vehicle is turned at the maximum turning angle until it is detected that the vehicle has been reversed, and then the vehicle is made to run straight until the start end of the travel route k is reached based on the detection information of the central magnetic field sensor 14. Further, as shown in FIG. 13B, the next traveling is performed based on the detection information of the side magnetic field sensor functioning as the magnetic field detection unit for the current traveling route k and the stored information stored in the memory 25. The car body is swung forward so as to be in a state of being along the route, and the width is adjusted. After that, the guidance traveling control is executed in a state along the traveling route.

At this time, after reaching the start end of the traveling route, the side magnetic field sensor (the right side sensor 13R in FIG. 13B) which functions as the magnetic field detecting unit GK ₂ for the next traveling route is used for the above-mentioned operation. A memory operation like
Since a detection error due to the width adjustment occurs at the route start end portion, such an error is corrected so that the reference information becomes appropriate.

That is, in the first manually run route, the reference value is stored as appropriate reference information. Therefore, the stored value at that time is associated with the run distance information at the route start end of the next run route. A difference from sequentially stored information, for example, when FIG. 13A is a first route, based on a difference between appropriate reference information indicated by a broken line and stored information indicated by a dot-dash line at the time of width adjustment. Thus, the shift amount due to the width adjustment can be obtained. However, since the strength of the magnetic field changes non-linearly every time the traveling route changes, as shown in FIG. 3, errors caused by such non-linear characteristics are also reduced. It should be noted that the error in the travel distance information due to the width adjustment is appropriately corrected based on the steering operation amount. That is, the difference value A between the detection values of the left and right side magnetic field sensors 13R and 13L in the travel route to be corrected and the travel route two times before the travel route (the travel route having the same traveling direction) with respect to the deviation amount obtained as described above. ) In the difference value B between the detection values of the left and right side magnetic field sensors 13R and 13L, that is, the correction ratio of the error caused by the non-linear characteristic is multiplied to obtain the correction amount of the non-linear error in the travel route. The stored information that is obtained and sequentially stored in the memory is corrected by this correction amount. Then, by executing such a correction operation for each traveling route, it is possible to obtain appropriate reference information.

In this way, in the subsequent guide travel, the reference information near the end of the travel route has a small error as described above and can be set in a state substantially along the travel route. The disadvantage that the work vehicle V meanders can be avoided in advance.

Thereafter, the guide traveling control as described above is executed. At this time, if the gain is changed in step 8, the detected information stored in the memory 25 also corresponds to the change amount. The target value for traveling is calculated by multiplying the gain. Then, steps 2 to 10 are repeated to sequentially guide the work vehicle V along each traveling route k, and when the number of traveling routes n reaches the set number of routes ns, the control ends (step 6).

In the current travel route k, the strength of the magnetic field stored when the vehicle travels in the previous travel route k and the current travel route k.
Is controlled to be the same as the detected magnetic field at
Since the installation intervals of the side magnetic field sensors 13R and 13L are set to be narrower than the working width of the rotary tiller 6 to the ground, the work area of the rotary tiller 6 is to be wrapped in each traveling route k. Therefore, the unworked area does not occur.

Further, an interval adjusting means KT is provided which can adjust the installation interval of each side magnetic field sensor 13R, 13L. As shown in FIG. 12, the central magnetic field sensor 14 is attached and fixed to the left and right center positions of the support member 26 provided in the front portion of the traveling vehicle body 5 so as to extend along the lateral direction of the vehicle body. The side magnetic field sensor 13
R and 13L are attached with bolts, respectively. A plurality of bolt insertion holes 27 of the support member 26 at the mounting positions of the side magnetic field sensors 13R and 13L are provided at appropriate intervals in the lateral direction of the vehicle body so that the mounting positions can be changed and adjusted over a predetermined range. The adjusting means KT is configured. Each side magnetic field sensor 13R,
By changing the installation interval of 13 L, for example, without changing the calculation information for calculating the target value of the control device,
It is possible to change the interval between the travel routes k according to the situation of the field.

[Other Embodiments] (1) In the above embodiment, the central magnetic field sensor as the route end detecting unit detects the end position on the traveling route, and based on the detected information, the turning control and the guide traveling are performed. Although it is configured to execute the control, instead of such a central magnetic field sensor, for example, by irradiating a laser beam in the lateral direction at the end of the path,
The sensor for detecting the laser light may be used to detect the end of the route, or various configurations such as a configuration for manually instructing the moving vehicle side that the end of the route has been reached by radio control. You may carry out in.

(2) In the above-described embodiment, the error of the stored information caused by the vehicle body laterally shifting with respect to the traveling route due to the turning traveling is corrected. As shown in FIG. 14, the vehicle body may be temporarily moved backward from the state along the next traveling route, and after the vehicle is aligned at the route start end portion, the guided traveling control and the storing operation in the memory may be started. In this case, the reference state error does not occur due to the turning, and the above-described correction control is also unnecessary.

(3) In the above-described embodiment, the work vehicle has a traveling mode in which the adjacent traveling routes are sequentially guided to travel along the traveling routes. You may implement in the work form as shown. That is, as shown in FIG. 15 (a), the work mode may be such that the work travels along the outer peripheral portion of the work area and is sequentially run toward the inner side. As shown, a headland (hatched portion) is provided on the outer side of each traveling route, and when traveling on each traveling route is completed, the traveling route located on the opposite side of the farm field is passed through the headland. It may be a different work form. In such a work mode, when traveling on the first traveling route k1, the reference information on the adjacent third traveling route k3 is sequentially stored, and when traveling on the second traveling route k2, the adjacent fourth traveling route k2 is stored. Travel route k
The reference information in 4 will be sequentially stored.

(4) In the above embodiment, the installation interval in the magnetic field detecting means can be changed and adjusted, but the installation interval may be fixed.

(5) In the above embodiment, the case where the guide lines are installed on both the left and right sides of the guide target area has been exemplified, but the guide lines may be installed on only one side. As for the control, the traveling route closer to the guide line may be sequentially guided to the far side route, or the traveling route farther to the guide line may be sequentially guided to the closer route.

(6) In the above-described embodiment, the rotary cultivating device is provided as the ground work device as the mobile vehicle. However, instead of such a configuration, for example, work provided with a seedling planting device or a harvesting machine. It may be a car, or a work vehicle for construction machinery or cleaning work. Further, a moving vehicle such as a transport vehicle that does not perform the work may be used.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a plan view showing a guiding state.

FIG. 2 is a side view showing an installation state of a guide wire.

FIG. 3 is a diagram showing a magnetic field strength distribution.

FIG. 4 is a control block diagram.

FIG. 5 is a configuration diagram of a magnetic field detection unit.

FIG. 6 is a configuration diagram of a signal processing unit.

FIG. 7 is a plan view showing an installation state of a guide wire.

FIG. 8 is an electric circuit diagram of the induction wire.

FIG. 9 is a diagram showing output characteristics when a gain is switched;

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a plan view of a working vehicle.

FIG. 12 is a view showing a mounting state of a magnetic field sensor.

FIG. 13 is a plan view showing a turning control state.

FIG. 14 is a plan view showing a turning control state of another embodiment.

FIG. 15 is a plan view showing a traveling state of another embodiment.

[Explanation of symbols]

2 induction line 6 ground work apparatus 10 distance detecting means 12 running control means 14 route edge detection unit 25 storage unit GK magnetic field detector GK ₁ magnetic field detector KT spacing for the magnetic field detecting unit GK ₂ following the travel path for the current travel route Adjusting means V Mobile

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yukio Yokoyama 64 Ishizukita-cho, Sakai-shi, Osaka Inside Kubota Sakai Works

Claims (5)

[Claims] 1. A magnetic field detecting means (GK) for detecting a strength of a magnetic field formed by the electric current, wherein an induction wire (2) to which an electric current is supplied is installed on the ground side and a moving vehicle (V) side is detected. And based on the detection information by this magnetic field detection means (GK),
In each of a plurality of traveling routes which are parallel to each other along the longitudinal direction of the guide line (2), a traveling control means (12) for executing the guiding traveling control for guiding the traveling vehicle (V) along the traveling routes. ) Is provided, the magnetic field detection means (GK), when traveling along one of the plurality of traveling routes, the traveling route during the traveling. And a magnetic field detection unit (GK ₁ ) for the current traveling route for detecting the strength of the magnetic field for executing the guidance control along the vehicle, and the moving vehicle (V) traveling along the next adjacent traveling route. A magnetic field detection unit (GK ₂ ) for the next traveling route, which detects the strength of the magnetic field to be detected by the magnetic field detection unit (GK ₁ ) for the current traveling route,
The moving vehicle (V) is provided in a state of being installed at intervals corresponding to the distance between adjacent traveling routes, and a distance detecting means (10) for detecting the traveling distance of the moving vehicle (V). When the moving vehicle (V) travels along one of the plurality of travel routes, the strength of the magnetic field detected by the magnetic field detection unit (GK ₂ ) for the next travel route is Storage means (25) for sequentially storing reference information in association with travel distance information from the travel route start end detected by the distance detection means (10) is provided, and the travel control means (12) is In the travel route in which the reference information is stored, based on the reference information stored in the storage means (25) and the travel distance information in the distance detection means (10), the above-mentioned information is obtained at the present time on the travel route. Magnetic field inspection for current travel route Part (GK ₁₎ and obtains a target value of the strength of the magnetic field to be detected, the said target value magnetic field detector for the current travel route (GK
₁ ) A guidance control device for a moving vehicle, which is configured to perform the guidance traveling control as detected by ₁ ). 2. The moving vehicle (V) is provided with a route end detection unit (14) for detecting the start end and the end of the traveling route, and the storage means (25) stores the route. Edge detection unit (14)
Is configured to execute a storage process of the reference information based on the detection information of the route end detecting unit (1).
The guidance control device for a moving vehicle according to claim 1, wherein the guidance control is performed on the travel route in which the reference information is stored, based on the detection information of 4). 3. The traveling control means (12) turns the traveling vehicle (V) from the terminal end portion of the traveling route to the adjacent side based on the detection information of the route end portion detecting portion (14). It is configured to execute a turning control that guides the vehicle to enter the next traveling route. The storage information of the storage unit (25) at the end portion of the traveling route and the storage unit (25) when entering the next traveling route. 3. The guide control device for a mobile vehicle according to claim 1, wherein the guide information is configured to correct an error in the reference information that occurs when the vehicle enters the travel route in association with the turning travel. . 4. The guidance control device for a moving vehicle according to claim 1, 2 or 3, further comprising interval adjusting means (KT) capable of changing and adjusting the set interval in the magnetic field detecting means (GK). 5. The ground work device (6) for the mobile vehicle (V).
It is comprised by the working vehicle provided with, The said setting interval in the said magnetic field detection means (GK) is set narrower than the working width of the said ground working apparatus (6), Claim 1, 2, 3 or. 4. The guidance control device for a moving vehicle according to 4.